Design of Control System Based on Dual Robot Grinding Platform

According to structural characteristics of wheel hub, the strategy of “classification and division” was adopted to formulate the grinding plan for different areas of the wheel hub. Focusing on the end face area of the hub hole with limited grinding space and complex grinding trajectory, a plan based on dual-robot collaborative grinding was proposed, and detailed design and introduction of the dual-robot collaborative control system were conducted. The design and development of the dual-robot control system were completed by the method of model-based design, and the robot grinding trajectory tracking and the wheel constant-force grinding experiment were carried out. The experimental results show that a dSPACE controller can realize the control of the dual robots, complete the grinding trajectory tracking and the grinding contact force error is within ±5 N, which will meet the needs of wheel grinding.